#ifndef __A_STAR_H__
#define __A_STAR_H__

#include "path_generate/path_base.h"
#include "path_generate/p2p/grid_node.h"

class AstarPlanner : public PlannerBase{
    public:
        AstarPlanner();
        ~AstarPlanner() = default;

        // 生成路径
        void genGridPath(int sx, int sy, int gx, int gy, vector<pair<int, int>>& points);

    private:
        ros::NodeHandle nh_;
        ros::Publisher debugMapPub_;
        set<int> expend_points_;    //扩展点
        nav_msgs::OccupancyGrid debugGrid_;
};

#endif